Merge branch 'ArduPilot:master' into master

ArduPlane/Plane.h

@@ -1159,7 +1159,7 @@ class Plane : public AP_Vehicle {
     void servos_twin_engine_mix();
     void force_flare();
     void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
-    void throttle_slew_limit(SRV_Channel::Aux_servo_function_t func);
+    void throttle_slew_limit();
     bool suppress_throttle(void);
     void update_throttle_hover();
     void channel_function_mixer(SRV_Channel::Aux_servo_function_t func1_in, SRV_Channel::Aux_servo_function_t func2_in,

ArduPlane/servos.cpp

@@ -22,7 +22,7 @@
 /*****************************************
 * Throttle slew limit
 *****************************************/
-void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
+void Plane::throttle_slew_limit()
 {
 #if HAL_QUADPLANE_ENABLED
     const bool do_throttle_slew = (control_mode->does_auto_throttle() || quadplane.in_assisted_flight() || quadplane.in_vtol_mode());
@@ -32,7 +32,9 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
 
     if (!do_throttle_slew) {
         // only do throttle slew limiting in modes where throttle control is automatic
-        SRV_Channels::set_slew_rate(func, 0.0, 100, G_Dt);
+        SRV_Channels::set_slew_rate(SRV_Channel::k_throttle,      0.0, 100, G_Dt);
+        SRV_Channels::set_slew_rate(SRV_Channel::k_throttleLeft,  0.0, 100, G_Dt);
+        SRV_Channels::set_slew_rate(SRV_Channel::k_throttleRight, 0.0, 100, G_Dt);
         return;
     }
 
@@ -55,7 +57,9 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
         slewrate = g.takeoff_throttle_slewrate;
     }
 #endif
-    SRV_Channels::set_slew_rate(func, slewrate, 100, G_Dt);
+    SRV_Channels::set_slew_rate(SRV_Channel::k_throttle,      slewrate, 100, G_Dt);
+    SRV_Channels::set_slew_rate(SRV_Channel::k_throttleLeft,  slewrate, 100, G_Dt);
+    SRV_Channels::set_slew_rate(SRV_Channel::k_throttleRight, slewrate, 100, G_Dt);
 }
 
 /* We want to suppress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
@@ -793,8 +797,6 @@ void Plane::servos_twin_engine_mix(void)
     } else {
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left);
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right);
-        throttle_slew_limit(SRV_Channel::k_throttleLeft);
-        throttle_slew_limit(SRV_Channel::k_throttleRight);
     }
 }
 
@@ -913,7 +915,7 @@ void Plane::set_servos(void)
     airbrake_update();
 
     // slew rate limit throttle
-    throttle_slew_limit(SRV_Channel::k_throttle);
+    throttle_slew_limit();
 
     int8_t min_throttle = 0;
 #if AP_ICENGINE_ENABLED

ArduPlane/tailsitter.cpp

@@ -289,9 +289,6 @@ void Tailsitter::output(void)
         return;
     }
 
-    float tilt_left = 0.0f;
-    float tilt_right = 0.0f;
-
     // throttle 0 to 1
     float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * 0.01;
 
@@ -341,6 +338,10 @@ void Tailsitter::output(void)
             // set AP_MotorsMatrix throttles for forward flight
             motors->output_motor_mask(throttle, motor_mask, plane.rudder_dt);
 
+            // No tilt output unless forward gain is set
+            float tilt_left = 0.0;
+            float tilt_right = 0.0;
+
             // in forward flight: set motor tilt servos and throttles using FW controller
             if (vectored_forward_gain > 0) {
                 // remove scaling from surface speed scaling and apply throttle scaling
@@ -398,8 +399,11 @@ void Tailsitter::output(void)
             }
 
             // output tilt motors
-            tilt_left = 0.0f;
-            tilt_right = 0.0f;
+
+            // No output unless hover gain is set
+            float tilt_left = 0.0;
+            float tilt_right = 0.0;
+
             if (vectored_hover_gain > 0) {
                 const float hover_throttle = motors->get_throttle_hover();
                 const float output_throttle = motors->get_throttle();
@@ -438,8 +442,10 @@ void Tailsitter::output(void)
         tailsitter_motors->set_min_throttle(0.0);
     }
 
-    tilt_left = 0.0f;
-    tilt_right = 0.0f;
+    // No tilt output unless hover gain is set
+    float tilt_left = 0.0;
+    float tilt_right = 0.0;
+
     if (vectored_hover_gain > 0) {
         // thrust vectoring VTOL modes
         tilt_left = SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorLeft);

Tools/AP_Bootloader/board_types.txt

@@ -292,7 +292,7 @@ AP_HW_2RAWH743                       1173
 AP_HW_X-MAV-AP-H743V2                1174
 AP_HW_BETAFPV_F4_2-3S_20A            1175
 AP_HW_MicoAir743AIOv1                1176
-
+AP_HW_CrazyF405                      1177
 AP_HW_FlywooF405HD_AIOv2             1180
 AP_HW_FlywooH743Pro                  1181
 
@@ -407,6 +407,12 @@ AP_HW_DroneBuild_G2                  5701
 
 # IDs 6000-6099 reserved for SpektreWorks
 
+# IDs 6100-6109 reserved for MFE
+AP_HW_MFE_PDB_CAN                            6100
+AP_HW_MFE_POS3_CAN                          6101
+AP_HW_MFE_RTK_CAN                             6102
+AP_HW_MFE_AirSpeed_CAN                     6103
+
 # IDs 6600-6699 reserved for Eagle Eye Drones
 
 # IDs 6900-6909 reserved for Easy Aerial

Tools/AP_Periph/AP_Periph.cpp

@@ -627,6 +627,7 @@ void AP_Periph_FW::prepare_reboot()
  */
 void AP_Periph_FW::reboot(bool hold_in_bootloader)
 {
+    prepare_reboot();
     hal.scheduler->reboot(hold_in_bootloader);
 }
 

Tools/AP_Periph/wscript

@@ -82,7 +82,8 @@ def build(bld):
                      'AP_RobotisServo',
                      'AP_FETtecOneWire',
                      'GCS_MAVLink',
-                     'AP_Relay'
+                     'AP_Relay',
+                     'AP_MultiHeap',
                      ]
 
     bld.ap_stlib(

Tools/GIT_Test/GIT_Success.txt

@@ -205,3 +205,4 @@ Naveen Kumar Kilaparthi
 Amr Attia
 Alessandro Martini
 Eren Mert YİĞİT
+Prashant Powar

Tools/ardupilotwaf/ardupilotwaf.py

@@ -128,6 +128,7 @@
     'AP_Beacon',
     'AP_Arming',
     'AP_RCMapper',
+    'AP_MultiHeap',
 ]
 
 def get_legacy_defines(sketch_name, bld):

Tools/ardupilotwaf/boards.py

@@ -696,6 +696,12 @@ def configure_env(self, cfg, env):
         cfg.define('AP_NOTIFY_LP5562_BUS', 2)
         cfg.define('AP_NOTIFY_LP5562_ADDR', 0x30)
 
+        # turn on fencepoint and rallypoint protocols so they're still tested:
+        env.CXXFLAGS.extend([
+            '-DAP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED=HAL_GCS_ENABLED&&HAL_RALLY_ENABLED',
+            '-DAC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT=HAL_GCS_ENABLED&&AP_FENCE_ENABLED'
+        ])
+
         try:
             env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=0')
         except ValueError: